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<div class="title">edge.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_2D_EDGE_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_2D_EDGE_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/2d/convolution.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/2d/kernel.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html">   48</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_edge.html">Edge</a></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      PointCloudInPtr input_;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <a class="code" href="classpcl_1_1_convolution.html">pcl::Convolution&lt;PointInT&gt;</a> convolution_;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <a class="code" href="classpcl_1_1kernel.html">kernel&lt;PointInT&gt;</a>  kernel_;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a4eab43d268ca04cfd96795b42b2d5184">cannyTraceEdge</a> (<span class="keywordtype">int</span> rowOffset, <span class="keywordtype">int</span> colOffset, <span class="keywordtype">int</span> row, <span class="keywordtype">int</span> col, </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a> &amp;maxima);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a1ea900b41e25ccdef54f60b968b64e10">discretizeAngles</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;thet);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#acdff65ad2e8341465470ef684b508f47">suppressNonMaxima</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointXYZIEdge&gt;</a> &amp;edges, </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                         <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a> &amp;maxima, <span class="keywordtype">float</span> tLow);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;Edge&gt; Ptr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const Edge&gt; ConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">enum</span> OUTPUT_TYPE</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        OUTPUT_Y,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        OUTPUT_X,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        OUTPUT_X_Y,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        OUTPUT_MAGNITUDE,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        OUTPUT_DIRECTION,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        OUTPUT_MAGNITUDE_DIRECTION,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        OUTPUT_ALL</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      };</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">enum</span> DETECTOR_KERNEL_TYPE</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        CANNY,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        SOBEL,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        PREWITT,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        ROBERTS,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        LOG,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        DERIVATIVE_CENTRAL,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        DERIVATIVE_FORWARD,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        DERIVATIVE_BACKWARD</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      };</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      OUTPUT_TYPE output_type_;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      DETECTOR_KERNEL_TYPE detector_kernel_type_;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">bool</span> non_maximal_suppression_;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordtype">bool</span> hysteresis_thresholding_;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">float</span> hysteresis_threshold_low_;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">float</span> hysteresis_threshold_high_;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">float</span> non_max_suppression_radius_x_;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">float</span> non_max_suppression_radius_y_;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <a class="code" href="classpcl_1_1_edge.html">Edge</a> () :</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        output_type_ (OUTPUT_X),</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        detector_kernel_type_ (SOBEL),</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        non_maximal_suppression_ (<span class="keyword">false</span>),</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        hysteresis_thresholding_ (<span class="keyword">false</span>),</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        hysteresis_threshold_low_ (20),</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        hysteresis_threshold_high_ (80),</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        non_max_suppression_radius_x_ (3),</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        non_max_suppression_radius_y_ (3)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a0ccda4c15b8537ec3ff3639f8dadf49c">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a0ccda4c15b8537ec3ff3639f8dadf49c">setOutputType</a> (OUTPUT_TYPE output_type)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        output_type_ = output_type;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      setHysteresisThresholdLow (<span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        hysteresis_threshold_low_ = threshold;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      setHysteresisThresholdHigh (<span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        hysteresis_threshold_high_ = threshold;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a5d4992dd5bf3458ad013c55885a9a175">sobelMagnitudeDirection</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;input_x, </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;input_y,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                               <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a489705e4da536a97081c1fbf7ac2ea79">canny</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;input_x, </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;input_y,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;             <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a1b924726c691308a9a50cad6be8b2eb0">  190</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a1b924726c691308a9a50cad6be8b2eb0">detectEdge</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#aad4e235b723af6970e5337d53004116d">detectEdgeCanny</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a3ffab54efcbfd029b6d758770e7e5da1">detectEdgeSobel</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a2fde1fd46a127c891ff8ade9e1c2c1e2">detectEdgePrewitt</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a7abd51b78b9049d54385478b03533150">detectEdgeRoberts</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a322ca7dc5db4d05189e53b1acbad3cb6">detectEdgeLoG</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> kernel_sigma, <span class="keyword">const</span> <span class="keywordtype">float</span> kernel_size,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a82119d613bffbc9ce96b8a65f56de15b">  246</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a82119d613bffbc9ce96b8a65f56de15b">computeDerivativeXCentral</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#ad720a4a1f05e90ce19c038fd7850890c">  254</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#ad720a4a1f05e90ce19c038fd7850890c">computeDerivativeYCentral</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a3227632412f8b6edda7dd1da7c6f4c02">  262</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a3227632412f8b6edda7dd1da7c6f4c02">computeDerivativeXForward</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a0e4450135f1076257c5a50d1d2b7427e">  270</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a0e4450135f1076257c5a50d1d2b7427e">computeDerivativeYForward</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a805afa618ffc093ab12cd4253ce7137c">  278</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a805afa618ffc093ab12cd4253ce7137c">computeDerivativeXBackward</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a23a73f6f318bd1bd5038a74e60181895">  286</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a23a73f6f318bd1bd5038a74e60181895">computeDerivativeYBackward</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#a20df146859d075581befb3db08b71fd6">  291</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#a20df146859d075581befb3db08b71fd6">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a>&amp; <span class="comment">/*output*/</span>) {}</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge.html#afe82b3dce432591dcda8c6a2fcc976ba">  297</a></span>&#160;      <a class="code" href="classpcl_1_1_edge.html#afe82b3dce432591dcda8c6a2fcc976ba">setInputCloud</a> (PointCloudInPtr input)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        input_ = input;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  };</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;}</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">#include &lt;pcl/2d/impl/edge.hpp&gt;</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_2D_EDGE_H </span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_convolution_html"><div class="ttname"><a href="classpcl_1_1_convolution.html">pcl::Convolution&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html"><div class="ttname"><a href="classpcl_1_1_edge.html">pcl::Edge</a></div><div class="ttdef"><b>Definition:</b> edge.h:49</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a0ccda4c15b8537ec3ff3639f8dadf49c"><div class="ttname"><a href="classpcl_1_1_edge.html#a0ccda4c15b8537ec3ff3639f8dadf49c">pcl::Edge::setOutputType</a></div><div class="ttdeci">void setOutputType(OUTPUT_TYPE output_type)</div><div class="ttdoc">Set the output type.</div><div class="ttdef"><b>Definition:</b> edge.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a0e4450135f1076257c5a50d1d2b7427e"><div class="ttname"><a href="classpcl_1_1_edge.html#a0e4450135f1076257c5a50d1d2b7427e">pcl::Edge::computeDerivativeYForward</a></div><div class="ttdeci">void computeDerivativeYForward(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Computes the image derivatives in Y direction using the kernel kernel::derivativeYForwardKernel....</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a1b924726c691308a9a50cad6be8b2eb0"><div class="ttname"><a href="classpcl_1_1_edge.html#a1b924726c691308a9a50cad6be8b2eb0">pcl::Edge::detectEdge</a></div><div class="ttdeci">void detectEdge(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">This is a convenience function which performs edge detection based on the variable detector_kernel_ty...</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a1ea900b41e25ccdef54f60b968b64e10"><div class="ttname"><a href="classpcl_1_1_edge.html#a1ea900b41e25ccdef54f60b968b64e10">pcl::Edge::discretizeAngles</a></div><div class="ttdeci">void discretizeAngles(pcl::PointCloud&lt; PointOutT &gt; &amp;thet)</div><div class="ttdoc">This function discretizes the edge directions in steps of 22.5 degrees.</div><div class="ttdef"><b>Definition:</b> edge.hpp:238</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a20df146859d075581befb3db08b71fd6"><div class="ttname"><a href="classpcl_1_1_edge.html#a20df146859d075581befb3db08b71fd6">pcl::Edge::applyFilter</a></div><div class="ttdeci">void applyFilter(pcl::PointCloud&lt; PointOutT &gt; &amp;)</div><div class="ttdoc">Override function to implement the pcl::Filter interface</div><div class="ttdef"><b>Definition:</b> edge.h:291</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a23a73f6f318bd1bd5038a74e60181895"><div class="ttname"><a href="classpcl_1_1_edge.html#a23a73f6f318bd1bd5038a74e60181895">pcl::Edge::computeDerivativeYBackward</a></div><div class="ttdeci">void computeDerivativeYBackward(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Computes the image derivatives in Y direction using the kernel kernel::derivativeYBackwardKernel....</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a2fde1fd46a127c891ff8ade9e1c2c1e2"><div class="ttname"><a href="classpcl_1_1_edge.html#a2fde1fd46a127c891ff8ade9e1c2c1e2">pcl::Edge::detectEdgePrewitt</a></div><div class="ttdeci">void detectEdgePrewitt(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Uses the Prewitt kernel for edge detection. This function does NOT include a smoothing step....</div><div class="ttdef"><b>Definition:</b> edge.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a3227632412f8b6edda7dd1da7c6f4c02"><div class="ttname"><a href="classpcl_1_1_edge.html#a3227632412f8b6edda7dd1da7c6f4c02">pcl::Edge::computeDerivativeXForward</a></div><div class="ttdeci">void computeDerivativeXForward(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Computes the image derivatives in X direction using the kernel kernel::derivativeYForwardKernel....</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a322ca7dc5db4d05189e53b1acbad3cb6"><div class="ttname"><a href="classpcl_1_1_edge.html#a322ca7dc5db4d05189e53b1acbad3cb6">pcl::Edge::detectEdgeLoG</a></div><div class="ttdeci">void detectEdgeLoG(const float kernel_sigma, const float kernel_size, pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Uses the LoG kernel for edge detection. Zero crossings of the Laplacian operator applied on an image ...</div><div class="ttdef"><b>Definition:</b> edge.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a3ffab54efcbfd029b6d758770e7e5da1"><div class="ttname"><a href="classpcl_1_1_edge.html#a3ffab54efcbfd029b6d758770e7e5da1">pcl::Edge::detectEdgeSobel</a></div><div class="ttdeci">void detectEdgeSobel(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Uses the Sobel kernel for edge detection. This function does NOT include a smoothing step....</div><div class="ttdef"><b>Definition:</b> edge.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a489705e4da536a97081c1fbf7ac2ea79"><div class="ttname"><a href="classpcl_1_1_edge.html#a489705e4da536a97081c1fbf7ac2ea79">pcl::Edge::canny</a></div><div class="ttdeci">void canny(const pcl::PointCloud&lt; PointInT &gt; &amp;input_x, const pcl::PointCloud&lt; PointInT &gt; &amp;input_y, pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Perform Canny edge detection with two separated input images for horizontal and vertical derivatives....</div><div class="ttdef"><b>Definition:</b> edge.hpp:403</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a4eab43d268ca04cfd96795b42b2d5184"><div class="ttname"><a href="classpcl_1_1_edge.html#a4eab43d268ca04cfd96795b42b2d5184">pcl::Edge::cannyTraceEdge</a></div><div class="ttdeci">void cannyTraceEdge(int rowOffset, int colOffset, int row, int col, pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;maxima)</div><div class="ttdoc">This function performs edge tracing for Canny Edge detector.</div><div class="ttdef"><b>Definition:</b> edge.hpp:211</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a5d4992dd5bf3458ad013c55885a9a175"><div class="ttname"><a href="classpcl_1_1_edge.html#a5d4992dd5bf3458ad013c55885a9a175">pcl::Edge::sobelMagnitudeDirection</a></div><div class="ttdeci">void sobelMagnitudeDirection(const pcl::PointCloud&lt; PointInT &gt; &amp;input_x, const pcl::PointCloud&lt; PointInT &gt; &amp;input_y, pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdef"><b>Definition:</b> edge.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a7abd51b78b9049d54385478b03533150"><div class="ttname"><a href="classpcl_1_1_edge.html#a7abd51b78b9049d54385478b03533150">pcl::Edge::detectEdgeRoberts</a></div><div class="ttdeci">void detectEdgeRoberts(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Uses the Roberts kernel for edge detection. This function does NOT include a smoothing step....</div><div class="ttdef"><b>Definition:</b> edge.hpp:172</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a805afa618ffc093ab12cd4253ce7137c"><div class="ttname"><a href="classpcl_1_1_edge.html#a805afa618ffc093ab12cd4253ce7137c">pcl::Edge::computeDerivativeXBackward</a></div><div class="ttdeci">void computeDerivativeXBackward(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Computes the image derivatives in X direction using the kernel kernel::derivativeXBackwardKernel....</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_a82119d613bffbc9ce96b8a65f56de15b"><div class="ttname"><a href="classpcl_1_1_edge.html#a82119d613bffbc9ce96b8a65f56de15b">pcl::Edge::computeDerivativeXCentral</a></div><div class="ttdeci">void computeDerivativeXCentral(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Computes the image derivatives in X direction using the kernel kernel::derivativeYCentralKernel....</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_aad4e235b723af6970e5337d53004116d"><div class="ttname"><a href="classpcl_1_1_edge.html#aad4e235b723af6970e5337d53004116d">pcl::Edge::detectEdgeCanny</a></div><div class="ttdeci">void detectEdgeCanny(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">All edges of magnitude above t_high are always classified as edges. All edges below t_low are discard...</div><div class="ttdef"><b>Definition:</b> edge.hpp:329</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_acdff65ad2e8341465470ef684b508f47"><div class="ttname"><a href="classpcl_1_1_edge.html#acdff65ad2e8341465470ef684b508f47">pcl::Edge::suppressNonMaxima</a></div><div class="ttdeci">void suppressNonMaxima(const pcl::PointCloud&lt; PointXYZIEdge &gt; &amp;edges, pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;maxima, float tLow)</div><div class="ttdoc">This function suppresses the edges which don't form a local maximum in the edge direction.</div><div class="ttdef"><b>Definition:</b> edge.hpp:265</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_ad720a4a1f05e90ce19c038fd7850890c"><div class="ttname"><a href="classpcl_1_1_edge.html#ad720a4a1f05e90ce19c038fd7850890c">pcl::Edge::computeDerivativeYCentral</a></div><div class="ttdeci">void computeDerivativeYCentral(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Computes the image derivatives in Y direction using the kernel kernel::derivativeYCentralKernel....</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html_afe82b3dce432591dcda8c6a2fcc976ba"><div class="ttname"><a href="classpcl_1_1_edge.html#afe82b3dce432591dcda8c6a2fcc976ba">pcl::Edge::setInputCloud</a></div><div class="ttdeci">void setInputCloud(PointCloudInPtr input)</div><div class="ttdoc">Set the input point cloud pointer</div><div class="ttdef"><b>Definition:</b> edge.h:297</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel&lt; PointInT &gt;</a></div></div>
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